In this paper, the objectives are to keep agents, modeled by second-order nonlinear systems, in pre-specified distances from each other and to follow the target within a bounded trajectory. To achieve this, we propose a new control design for the nonlinear multi-agent systems relying on the backstepping control and rigid graph theory. The unknown nonlinear part of the system dynamics, as well as the disturbance, are approximated using NN, where an RBFNN (for more details see [1]}) is used to estimate the unknown dynamics. To achieve the formation target tracking, the leader tracks a target within a bounded trajectory while the rest of the agents maintain the desired formation and follow the leader.
